#include <ros/ros.h>
#include <geometry_msgs/Twist.h>  

void geomsgs_callback(const geometry_msgs::Twist::Ptr &msg)
{
    ROS_INFO("%d, %d",int(msg->linear.x), int(msg->angular.z));
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "minicar_control_node", 
            ros::init_options::AnonymousName | ros::init_options::NoSigintHandler);
    ros::NodeHandle n;
    ros::Subscriber sub = n.subscribe("cmd_vel", 100, geomsgs_callback); 
    ros::spin();
    
    return 0;
}